在4DoF机器人透导管输送系统中建模非线性效应
Namrata U Nayar1, Jaydev P Desai1
1Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.
IEEE robotics and automation letters
|August 1, 2025
概括
这项研究模拟了一种机器人系统,用于通过导管修复心心门 (TMVr),以提高精度和减少辐射暴露. 这种机器人驾驶系统旨在克服当前手动TMVr设备的局限性.
科学领域:
- 机器人在医学中的机器人
- 最少侵入性的手术
- 心血管干预 心血管干预
背景情况:
- 透导管 mitra 门修复 (TMVr) 提供了一种最小侵入性的选择,用于 mitra 吐 (MR),特别是对于非手术候选人.
- 目前的TMVr系统是手动操作的,这导致工作人员的辐射暴露很大,并限制了远程手术的可能性.
- 对于TMVr程序来说,需要提高精度,一致性和减少疲劳.
研究的目的:
- 为TMVr.开发和建模一个全尺寸的机器人可转向的透导管输送系统.
- 解决手动TMVr操作的局限性,包括辐射暴露和远程手术的可行性.
- 创建一个系统模型,以考虑可转向导管内在的复杂机械因素.
主要方法:
- 为TMVr.建模一个机器人可引导的透导管输送系统.
- 将歇斯底里,摩擦,肌延长和导管配置纳入系统模型.
- 考虑关节合和导管配置对关节行为的影响.
- 在模拟的TMVr扭曲性下,在空中进行实验验证.
主要成果:
- 开发了一种机器人可引导的透导管输送系统的综合模型.
- 该模型考虑了诸如歇斯底里,摩擦和肌延长等关键因素.
- 实验验证证在现实的程序条件下证实了模型的准确性.
结论:
- 一个经过验证的机器人系统模型可以提高精度,并减少横导管中枢维修中的辐射.
- 这种机器人方法有可能实现远程手术并提高程序的一致性.
- 进一步开发这些系统对于推进最少侵入性心血管干预至关重要.
更多相关视频
09:57Development and Evaluation of 3D-Printed Cardiovascular Phantoms for Interventional Planning and Training
Published on: January 18, 2021
4.2K
07:46Author Spotlight: Revolutionizing Remote Surgery with Augmented Reality and Robotics for Enhanced Precision and Accessibility
Published on: August 9, 2024
853
相关概念视频
01:30Three-Dimensional Force System
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
01:30Three-Dimensional Force System:Problem Solving
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
01:24One-Degree-of-Freedom System
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
01:15Torque Free Motion
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...